EP0810497A4 - Method of output correction for control apparatus, the control apparatus, and hydraulic pump control apparatus - Google Patents

Method of output correction for control apparatus, the control apparatus, and hydraulic pump control apparatus

Info

Publication number
EP0810497A4
EP0810497A4 EP96929531A EP96929531A EP0810497A4 EP 0810497 A4 EP0810497 A4 EP 0810497A4 EP 96929531 A EP96929531 A EP 96929531A EP 96929531 A EP96929531 A EP 96929531A EP 0810497 A4 EP0810497 A4 EP 0810497A4
Authority
EP
European Patent Office
Prior art keywords
control apparatus
pump rotation
solenoid valve
control
proportional solenoid
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP96929531A
Other languages
German (de)
French (fr)
Other versions
EP0810497A1 (en
EP0810497B1 (en
Inventor
Youichi Kowatari
Toichi Hirata
Hidefumi Takegahara
Tsukasa Toyooka
Kouji Ishikawa
Genroku Sugiyama
Shigehiro Yoshinaga
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Construction Machinery Co Ltd
Original Assignee
Hitachi Construction Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP33059995A external-priority patent/JP3497031B2/en
Application filed by Hitachi Construction Machinery Co Ltd filed Critical Hitachi Construction Machinery Co Ltd
Publication of EP0810497A1 publication Critical patent/EP0810497A1/en
Publication of EP0810497A4 publication Critical patent/EP0810497A4/en
Application granted granted Critical
Publication of EP0810497B1 publication Critical patent/EP0810497B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B24/00—Open-loop automatic control systems not otherwise provided for
    • G05B24/02—Open-loop automatic control systems not otherwise provided for electric
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2025—Particular purposes of control systems not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E02F9/2232—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps
    • E02F9/2235—Control of flow rate; Load sensing arrangements using one or more variable displacement pumps including an electronic controller
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2282—Systems using center bypass type changeover valves
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2285—Pilot-operated systems
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2278—Hydraulic circuits
    • E02F9/2296—Systems with a variable displacement pump
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B49/00—Control, e.g. of pump delivery, or pump pressure of, or safety measures for, machines, pumps, or pumping installations, not otherwise provided for, or of interest apart from, groups F04B1/00 - F04B47/00
    • F04B49/06—Control using electricity
    • F04B49/065—Control using electricity and making use of computers
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B11/00—Automatic controllers
    • G05B11/01—Automatic controllers electric
    • G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2201/00—Pump parameters
    • F04B2201/12—Parameters of driving or driven means
    • F04B2201/1204—Position of a rotating inclined plate
    • F04B2201/12041—Angular position
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2203/00—Motor parameters
    • F04B2203/02—Motor parameters of rotating electric motors
    • F04B2203/0201—Current
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
    • F04B2205/00—Fluid parameters
    • F04B2205/06—Pressure in a (hydraulic) circuit
    • F04B2205/062—Pressure in a (hydraulic) circuit before a throttle

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Artificial Intelligence (AREA)
  • Medical Informatics (AREA)
  • Software Systems (AREA)
  • Evolutionary Computation (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Health & Medical Sciences (AREA)
  • Computer Hardware Design (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Positive-Displacement Pumps (AREA)
  • Fluid-Pressure Circuits (AREA)
  • Operation Control Of Excavators (AREA)
  • Feedback Control In General (AREA)

Abstract

When a mode signal Sm of a mode switch (13) is ON, an arithmetic unit (12a) of a controller (12) executes learning control in which a driving current (I) corresponding to a predetermined target pump rotation υ0 is supplied to a proportional solenoid valve (3) to determine the difference between the target pump rotation υ0 and actual pump rotation υ and the difference is stored as a corrective value Δυ0 in an EEPROM of a memory unit (12b). When the mode signal Sm of the mode switch (13) is OFF, the arithmetic unit executes normal control in which the corrective value Δυ0 stored in the memory unit (12b) is added to the target pump rotation υ0 and a driving current (I) corresponding to this corrected target pump rotation υ0 is supplied to the proportional solenoid valve (3). Therefore, even when any variance exists in the input/output characteristics of a regulator as displacement control means (control objet) of a hydraulic pump and the proportional solenoid valve, variance of actual pump rotation as the output of the control object can be reduced.
EP96929531A 1995-12-19 1996-09-05 Method of output correction for control apparatus, the control apparatus, and hydraulic pump control apparatus Expired - Lifetime EP0810497B1 (en)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP33059995A JP3497031B2 (en) 1995-03-07 1995-12-19 Hydraulic pump control device
JP330599/95 1995-12-19
JP33059995 1995-12-19
PCT/JP1996/002517 WO1997022914A1 (en) 1995-12-19 1996-09-05 Method of output correction for control apparatus, the control apparatus, and hydraulic pump control apparatus

Publications (3)

Publication Number Publication Date
EP0810497A1 EP0810497A1 (en) 1997-12-03
EP0810497A4 true EP0810497A4 (en) 1998-05-20
EP0810497B1 EP0810497B1 (en) 2002-12-18

Family

ID=18234463

Family Applications (1)

Application Number Title Priority Date Filing Date
EP96929531A Expired - Lifetime EP0810497B1 (en) 1995-12-19 1996-09-05 Method of output correction for control apparatus, the control apparatus, and hydraulic pump control apparatus

Country Status (5)

Country Link
EP (1) EP0810497B1 (en)
KR (1) KR100225422B1 (en)
CN (1) CN1137417C (en)
DE (1) DE69625469T2 (en)
WO (1) WO1997022914A1 (en)

Families Citing this family (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4136041B2 (en) * 1997-12-04 2008-08-20 日立建機株式会社 Hydraulic drive device for hydraulic working machine
US6684636B2 (en) * 2001-10-26 2004-02-03 Caterpillar Inc Electro-hydraulic pump control system
KR100507485B1 (en) * 2003-05-27 2005-08-17 현대자동차주식회사 Solenoid plunger correction control apparatus of automatic transmission on vehicle and method thereof
JP4042057B2 (en) * 2003-11-04 2008-02-06 株式会社デンソー Valve opening adjustment device and common rail fuel injection device
GB0502149D0 (en) * 2005-02-02 2005-03-09 Boc Group Inc Method of operating a pumping system
JP4353190B2 (en) * 2006-02-27 2009-10-28 コベルコ建機株式会社 Hydraulic circuit for construction machinery
US8511080B2 (en) * 2008-12-23 2013-08-20 Caterpillar Inc. Hydraulic control system having flow force compensation
FR2978506A1 (en) * 2011-07-29 2013-02-01 Poclain Hydraulics Ind HYDRAULIC CONTROL CIRCUIT
DE102011115896B4 (en) * 2011-10-14 2015-05-28 Bürkert Werke GmbH Apparatus and method for process control
CN102493523B (en) * 2011-11-25 2013-12-04 徐州徐工挖掘机械有限公司 Novel excavator current-limiting control system
CN102518168B (en) * 2011-12-08 2015-04-08 上海三一重机有限公司 Hydraulic system control device, control method of the hydraulic system and excavator comprising the device
CN104024535B (en) * 2011-12-21 2016-07-27 沃尔沃建造设备有限公司 For arranging the device of construction equipment manipulation degree
CN103306329B (en) * 2013-05-28 2016-04-13 上海三一重机有限公司 A kind of hydraulic shear micro-control control system based on excavator and method and excavator
WO2018163826A1 (en) * 2017-03-07 2018-09-13 日立建機株式会社 Construction machine
JP6885812B2 (en) * 2017-07-12 2021-06-16 株式会社山田製作所 Flood control device and flood control method
JP6966830B2 (en) * 2018-04-27 2021-11-17 キャタピラー エス エー アール エル Calibration system for variable displacement hydraulic pumps
JP7141894B2 (en) * 2018-09-05 2022-09-26 日立建機株式会社 working machine
JP6947711B2 (en) * 2018-09-28 2021-10-13 日立建機株式会社 Construction machinery

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3845288A (en) * 1971-06-28 1974-10-29 Trw Inc Data normalizing method and system
EP0075507A1 (en) * 1981-09-11 1983-03-30 Thomson-Csf Electrohydraulic servo valve device
US4558424A (en) * 1982-09-23 1985-12-10 Kabushiki Kaisha Sankyo Seiki Seisakusho Robot control apparatus
EP0240048A2 (en) * 1986-03-03 1987-10-07 Takaaki Nagao Profile working machine
US4920305A (en) * 1987-06-12 1990-04-24 The Babcock & Wilcox Company Auto calibrating electro hydraulic servo driver
EP0403280A2 (en) * 1989-06-16 1990-12-19 Nordson Corporation Apparatus for controlling material flow in a fluid dispensing process
US5126933A (en) * 1990-02-07 1992-06-30 White Iii Charles A Self-learning memory unit for process controller and self-updating function generator
JPH0557777A (en) * 1991-09-02 1993-03-09 Toyo Mach & Metal Co Ltd Control method for proportional solenoid control valve of injection molding machine
EP0565737A1 (en) * 1991-10-16 1993-10-20 Fanuc Ltd. Method of correcting position of forward end of tool
US5315976A (en) * 1990-03-17 1994-05-31 Robert Bosch Gmbh Error-corrected closed-loop control system

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0648219Y2 (en) * 1985-03-29 1994-12-12 新キャタピラ−三菱株式会社 Electric / hydraulic proportional control valve controller for construction machinery
JPS6248990A (en) * 1985-08-26 1987-03-03 Toyota Motor Corp Method for measuring efficiency of roots pump
JPH02231602A (en) * 1989-03-06 1990-09-13 Yaskawa Electric Mfg Co Ltd General-purpose learning controller
JPH04220701A (en) * 1990-12-21 1992-08-11 Tokimec Inc Fluid control system
JPH05265509A (en) * 1992-03-16 1993-10-15 Mitsubishi Heavy Ind Ltd Learning control device
KR0152300B1 (en) * 1993-07-02 1998-10-15 김연수 Outlet flow control method for hydraulic pump

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3845288A (en) * 1971-06-28 1974-10-29 Trw Inc Data normalizing method and system
EP0075507A1 (en) * 1981-09-11 1983-03-30 Thomson-Csf Electrohydraulic servo valve device
US4558424A (en) * 1982-09-23 1985-12-10 Kabushiki Kaisha Sankyo Seiki Seisakusho Robot control apparatus
EP0240048A2 (en) * 1986-03-03 1987-10-07 Takaaki Nagao Profile working machine
US4920305A (en) * 1987-06-12 1990-04-24 The Babcock & Wilcox Company Auto calibrating electro hydraulic servo driver
EP0403280A2 (en) * 1989-06-16 1990-12-19 Nordson Corporation Apparatus for controlling material flow in a fluid dispensing process
US5126933A (en) * 1990-02-07 1992-06-30 White Iii Charles A Self-learning memory unit for process controller and self-updating function generator
US5315976A (en) * 1990-03-17 1994-05-31 Robert Bosch Gmbh Error-corrected closed-loop control system
JPH0557777A (en) * 1991-09-02 1993-03-09 Toyo Mach & Metal Co Ltd Control method for proportional solenoid control valve of injection molding machine
EP0565737A1 (en) * 1991-10-16 1993-10-20 Fanuc Ltd. Method of correcting position of forward end of tool

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
PATENT ABSTRACTS OF JAPAN vol. 017, no. 368 (M - 1443) 12 July 1993 (1993-07-12) *
See also references of WO9722914A1 *

Also Published As

Publication number Publication date
CN1137417C (en) 2004-02-04
DE69625469D1 (en) 2003-01-30
EP0810497A1 (en) 1997-12-03
WO1997022914A1 (en) 1997-06-26
KR100225422B1 (en) 1999-10-15
CN1165570A (en) 1997-11-19
DE69625469T2 (en) 2003-10-02
EP0810497B1 (en) 2002-12-18
KR970707391A (en) 1997-12-01

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